EP3868078B1 - Verfahren zum bereitstellen von statusinformationen in bezug auf eine drahtlose datenübertragung für die industrielle prozesssteuerung - Google Patents

Verfahren zum bereitstellen von statusinformationen in bezug auf eine drahtlose datenübertragung für die industrielle prozesssteuerung Download PDF

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EP3868078B1
EP3868078B1 EP18789761.6A EP18789761A EP3868078B1 EP 3868078 B1 EP3868078 B1 EP 3868078B1 EP 18789761 A EP18789761 A EP 18789761A EP 3868078 B1 EP3868078 B1 EP 3868078B1
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Prior art keywords
remote controller
status information
industrial process
interface
wireless
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English (en)
French (fr)
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EP3868078A1 (de
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Sándor RÁCZ
János HARMATOS
Norbert REIDER
Geza Szabo
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Telefonaktiebolaget LM Ericsson AB
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Telefonaktiebolaget LM Ericsson AB
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
    • G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/20—Arrangements for monitoring or testing data switching networks the monitoring system or the monitored elements being virtualised, abstracted or software-defined entities, e.g. SDN or NFV
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31105—Remote control of network controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31133—Contactless connector, identify module wirelessly, short distance like less than twenty cm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present disclosure generally relates to industrial automation.
  • a technique is presented for providing status information relating to a wireless data transmission that is used to control an industrial process.
  • the technique may be implemented in the form of an apparatus, a wireless communication network portion, a controller, a method, and a computer program product.
  • remote controller In industrial automation, field devices within an industrial process domain are often controlled from a distant site by a remote controller.
  • the remote controller can, for example, be deployed in a computing cloud. Control data generated by the remote controller in the computing cloud can be wirelessly transmitted to the industrial process domain.
  • Cellular wireless communication networks of the 5 th Generation are configured to provide Ultra-Reliable Low Latency Communication (URLLC) of down to 0.5 ms latency for a vast set of applications including industrial process control.
  • URLLC Ultra-Reliable Low Latency Communication
  • the support of URLLC services comes at the cost of reduced spectral efficiency compared to mobile broadband services without latency and reliability constraints.
  • spectral efficiency significantly depends on the Quality of Service (QoS) that is to be provided.
  • QoS Quality of Service
  • URLLC with 1 ms latency can have about three times lower spectral efficiency compared to URLLC with 10 ms latency.
  • optimized use of URLLC can thus improve network capacity.
  • Industrial process control can be performed at various levels in regard to latency and other QoS requirements.
  • a highly delay sensitive task is a closed-loop control (e.g., a Proportional-Integral-Derivative, PID, control of servos in the robot cell), with required update times of typically between 1 and 15 ms.
  • PID Proportional-Integral-Derivative
  • Higher level control e.g., when movement commands are sent to valves or conveyor belts
  • low update times are not always necessary for such control tasks.
  • the controller In industrial process control it is crucial that the controller has sufficient and, in the ideal case, real-time knowledge about any transmission problems (e.g., due to delayed or lost data frames). Based on such knowledge, the controller can take proper action to possibly compensate the transmission problems, rather than stop the whole industrial process.
  • the loss of only a few consecutive frames implies a serious transmission problem and leads to drastic actions. Such drastic actions may not be required in wireless transmission scenarios, depending on the particular transmission problem.
  • US 2015/081922 discloses an loT edge secure gateway in an industrial process control and automation system, capable of transmitting field device status information from the field devices to the controllers and control data from the controllers to the field devices.
  • the gateway is further capable of determining that received data using a first protocol, is intended for a second device that uses a second protocol, converting said received data from the first protocol to the second protocol and transmitting the received data to the second device via the second protocol.
  • US 2017/163444 discloses an adapter device for coupling an industrial field instrument to an industrial wireless network and related system and method.
  • the adapter device is further capable of converting information from a first protocol native to the field instrument into a second protocol native to a wireless network and transmitting the information to at least one other device over the wireless network.
  • US 2012/236768 discloses systems and methods for tunneling or encapsulating various messages using Common Industrial Protocol (CIP), which was previously known as Control and Information Protocol.
  • CIP Common Industrial Protocol
  • the gateway device is configured to receive, from a controller, a message that encapsulates a command conforming to a protocol for communicating with a field device, such as, for example, a Highway Addressable Remote Transducer (HART) command, extract the command from the message and transmit the command to one or more field devices.
  • the gateway device may further receive data responsive to the command from the one or more field devices, encapsulate the data in a message (e.g., HART response), and transmit the message that encapsulates the data to the controller.
  • a message e.g., HART response
  • US 2015/156285 discloses an apparatus and method supporting wireless communications between devices using different application protocols in industrial control and automation systems.
  • the apparatus is capable of translating communications between multiple first devices in a first network using a first protocol and multiple second devices in a second network using a second protocol.
  • an apparatus configured to provide status information relating to a wireless data transmission that is used to control an industrial process by a remote controller, wherein the remote controller is coupled to at least one first field device of the industrial process via a wireless communication network supporting the wireless data transmission.
  • the apparatus comprises a first interface configured to be coupled to one of a user equipment, a radio access network and a core network of the wireless communication network, and a second interface compliant with an industrial process communication protocol used for communication between the remote controller and the at least one first field device.
  • the apparatus is configured to receive the status information via the first interface and provide the status information, or status information derived therefrom, via the second interface towards the remote controller.
  • the term "user equipment” (or UE) is meant to be understood in a broad manner to generally denote a communication device capable of wirelessly being served by a radio access network. For this reason the industrial process may be considered to constitute the "user” of the corresponding communication device.
  • the term “user equipment” includes the corresponding communication devices denoted by this term in certain wireless communications standards, but is not restricted to such communication devices.
  • the apparatus may be configured to process the received status information so as to derive processed status information.
  • the processing performed by the apparatus may, for example, be an aggregation or a statistical processing (e.g., an averaging).
  • the first interface may be a proprietary interface or an interface compliant with a wireless communication protocol supported by the wireless communication network.
  • the first interface may be configured to be coupled to a complementary interface within the user equipment, the radio access network and the core network.
  • the first interface may be a software-based interface.
  • the apparatus is configured to present itself via the second interface as a ("virtual") second field device to the remote controller.
  • the remote controller may thus treat the apparatus like a "regular" first field device, such as a sensor in an industrial process domain.
  • the remote controller may for example use the same mechanisms as it regularly uses to obtain sensory information from the industrial process domain.
  • the first field device is configured to write in a reserved first memory region accessible by the remote controller and reserved for the first field device
  • the second field device may be configured to write in a reserved second memory region accessible by the remote controller in the same manner as the first memory region.
  • the second interface may be located on Layer 1 of the Open Systems Interconnection, OSI, model. Layer 1 is also called physical layer.
  • the second interface may be hardware interface.
  • the second interface may be a wire-based interface.
  • the second interface may be configured to be coupled to a field bus.
  • the industrial process communication protocol and/or the second interface may be compliant with at least one of International Electrotechnical Commission, IEC, standard 61158 and IEC standard 61784.
  • IEC International Electrotechnical Commission
  • the industrial process communication protocol and/or the second interface may be compliant with ProfiNet or EtherCAT.
  • the industrial process may be controlled via one, two or more radio bearers.
  • the one, two or more radio bearers may each stretch between the radio access network and the user equipment.
  • Different bearers may provide different QoS levels, such as in terms of latency.
  • the different QoS levels and, thus, the different radio bearers may be associated with different first field devices of the industrial process.
  • the received status information is associated with exactly one radio bearer.
  • the industrial process may be controlled using a flow of data frames between the remote controller and the industrial process (e.g., the one or more first field advices).
  • a format of the data frames may be defined in the industrial process communication protocol.
  • the status information may pertain to a transmission state of one or more data frames.
  • the one or more data frames may be associated with a dedicated data flow as identified by a flow identifier.
  • the status information is provided on a per-data frame basis and/or on a per-data flow basis.
  • the status information may permit to investigate the transmission state of a particular data frame by the remote controller (e.g., when the remote controller is still awaiting this data frame from the industrial process domain or is interested if this data frame has actually been delivered to the industrial process domain).
  • the data frame may be transmitted in a downlink direction or in an uplink direction.
  • the transmission state may relate to one of the downlink direction and the uplink direction.
  • the status information may pertain to one or more of the following, or other, data frame transmission states:
  • the status information may associate an individual data frame transmission state with supplemental information.
  • the supplemental information may include at least one of a data flow identifier, a flow update time and a time stamp.
  • the supplemental information has been obtained by packet inspection in at least one of the user equipment, the radio access network and the core network. To this end, shallow packet inspection may be applied.
  • the apparatus may be configured to operate in real-time.
  • the status information provided by the apparatus may be used by the remote controller for real-time control of the at least one first field device.
  • a remote controller for controlling at least one first field device of an industrial process using a wireless data transmission.
  • the remote controller is configured to obtain, based on an industrial process communication protocol that is used for communication between the remote controller and the at least one first field device, status information relating to the wireless data transmission.
  • the remote controller is further configured to control the industrial process based on the obtained status information.
  • the status information obtained by the remote controller may relate to a wireless data transmission towards (downlink) or from (uplink) the first device.
  • the remote controller may be configured to control the first device based on the obtained status information.
  • the status information may be "raw” status information as generated within the wireless communication network.
  • the "raw" status information has been pre-processed so that the status information obtained by the remote controller is pre-processed status information.
  • the status information may be obtained from an apparatus in the wireless communication network that presents itself as a second field device to the remote controller.
  • the remote controller may use the same mechanism to obtain information from any first field device (that is involved in the industrial process as such) and the second field device (i.e., from the apparatus providing the status information about the wireless data transmission).
  • the industrial process may be controlled using a flow of data frames between the remote controller and the industrial process (e.g., the one or more first field devices).
  • the remote controller may be configured to obtain (e.g., to request or read) the status information in response to a determination that a data frame has not arrived in time from the industrial process.
  • radio access network types such as 5G radio access networks
  • the present disclosure can also be implemented in connection with other radio access network types (e.g., 4G radio access networks).
  • radio access network types e.g., 4G radio access networks
  • 3GPP 3 rd Generation Partnership Project
  • the present disclosure is not restricted to any specific wireless access type.
  • ProfiNet as an exemplary industrial process communication protocol
  • the present disclosure can also be implemented using any other industrial process communication protocol such as EtherCAT (e.g., protocols compliant with IEC 61158 and/or IEC 61784).
  • Fig. 1A illustrates a first embodiment of a network system 100 in which the present disclosure can be implemented.
  • the network system 100 comprises a robot cell domain 100A, a wireless access domain 100B, and a cloud computing domain 100C.
  • the wireless access domain 100B belongs to a wireless communication network that also comprises a core network and one or more wireless endpoints.
  • the robot cell domain 100A comprises a robot cell 101 as one example of an industrial process.
  • the present disclosure could, of course, also be implemented in the context of chemical process control or control of any other industrial process.
  • the robot cell 101 comprises multiple robotic devices 102 each having a dedicated local robot controller 102A.
  • Each robotic device 102 such as a robot arm movable within various degrees of freedom, may comprise multiple actuators (e.g., servos).
  • Multiple robotic devices 102 within the robot cell 101 may collaboratively work on the same task (e.g., on the same work product).
  • Each local controller 102A comprises or represents, from the perspective of an industrial process communication protocol such as ProfiNet, a field device (e.g., an Input/Output, I/O, device) within the robot cell domain 100A.
  • the local controllers 102A may have components, such as software and/or hardware interfaces, functionally located on OSI level 1 (physical level).
  • the local controllers 102A may comprise hardware PLCs, discrete PID controllers, or similar devices.
  • each robotic device 102 is associated with a wireless endpoint 103 for wireless communication with the wireless access domain 100B.
  • a wireless endpoint 103 is sometimes also referred to as User Equipment (UE) herein and in some wireless communication standards.
  • UE User Equipment
  • the robot cell domain 100A further comprises multiple monitoring devices 104 such as cameras, motion sensors, and so on.
  • the monitoring devices 104 generate robot cell state data (i.e., sensory information) indicative of a state of the robot cell 101.
  • One or more of the monitoring devices 104 can also be integrated into one or more of the robotic devices 102.
  • one or more of the local controllers 102A may function as monitoring devices 104 capable of generating robot cell state data indicative of a state of the associated robotic device 102.
  • Each monitoring device 104 comprises or represents, from the perspective of an industrial process communication protocol such as ProfiNet, a field device (e.g., an Input/Output, I/O, device) within the robot cell domain 100A.
  • a field device e.g., an Input/Output, I/O, device
  • each monitoring device 104 is associated with a wireless endpoint ("UE") 103 for wireless communication with the wireless access domain 100B.
  • UE wireless endpoint
  • the wireless access domain 100B belongs to a cellular and/or non-cellular wireless communication network, for example as specified by 3GPP (e.g., a 5G network).
  • 3GPP e.g., a 5G network
  • the wireless access domain 100B of the wireless communication network is compliant with the 3GPP standards according to Release R15, such as TS 23.503 V15.1.0 (2018-3) or later.
  • the wireless access domain 100B comprises a Radio Access Network (RAN) 105 with one or more base stations and/or one or more wireless access points that enable a wireless communication between the UEs 103 in the robot cell 101 on the one hand and the cloud computing domain 100C on the other.
  • RAN Radio Access Network
  • the robotic devices 102 with their associated local robot controllers 102A are configured to receive control data generated in the cloud computing domain 100C from the wireless access domain 100B.
  • the state data as acquired by the monitoring devices 104 and the local controllers 102A are wirelessly communicated via the wireless access domain 100B to the cloud computing domain 100C.
  • Processing of the state data in the cloud computing domain 100C may be performed in the context of inverse kinematics, in a PID control context, in a robot cell security context or in the context of performance monitoring and control.
  • the cloud computing domain 100C comprises a central controller ("remote controller") 106 composed of cloud computing resources.
  • the remote controller 106 is configured to receive the robot cell state data from the monitoring devices 104 and the local controllers 102A via the wireless access domain 100B.
  • the remote controller 106 is further configured to receive status information relating to the wireless transmission of data frames between the remote controller and the robot cell field devices (i.e., the monitoring devices 104 and the local controllers 102A).
  • the remote controller 106 is configured to generate control data for the robotic devices 102, optionally on the basis of the robot cell state data and/or the status information pertaining to the wireless data transmission, and to forward the control data via the wireless access domain 100B to the local controllers 102A of the robotic devices 102.
  • the local controllers 102A are configured to receive the control data and to control one or more individual actuators of the respective robotic device 102 based thereon.
  • Fig. 1B shows a second embodiment of the network system 100.
  • the second network system embodiment is similar to the first network system embodiment described with reference to Fig. 1A with the exception of the provision of a central gateway controller 101A within the robot cell 101.
  • a single UE 103 is associated with the gateway controller 101A for wireless data transmission between the remote controller 106 and the robot cell 101.
  • the gateway controller 101A is coupled via a wire-based field bus to each of the robotic devices 102 and the monitoring devices 104 in the robot cell 101.
  • Fig. 1C illustrates a portion of the second network system embodiment of Fig. 1A with a single field device (robotic device 102) in the robot cell 101.
  • Fig. 1C specifically illustrates the exemplary placement of two apparatuses 110 in the UE 103 and the RAN 105, respectively.
  • These apparatuses 110 are configured to present themselves as "virtual" field devices to the remote controller 106.
  • ProfiNet an industrial process communication protocol
  • the remote controller 106 will communicate with the apparatuses 110 in the same manner as with any of the "regular" field devices 102A, 104 in the robot cell 101.
  • the apparatuses 110 will also be referred to as "virtual devices" hereinafter.
  • the virtual devices 110 are placed in the wireless communication network and configured to provide status information that relates to a wireless data transmission between the remote controller 106 and each "regular" field device 102A, 104 in the robot cell 101.
  • the status information specifically pertains to a radio bearer 112 stretching between the RAN 105 and the UE 103 and providing the wireless data transmission services. It will be appreciated that in other embodiments multiple radio bearers 112 may be provided between the RAN 105 and the UE 103 (e.g., to provide different QoS levels for different field devices 102A, 104), wherein status information is individually provided per radio bearer 102.
  • a virtual device 110 may also be placed in a core network portion of the wireless communication network.
  • data frames of the industrial process communication protocol are transferred on a field bus that virtually stretches between the remote controller 106 and each field device 102A, 104 in the robot cell 101. Since that field bus does not physically stretch through the wireless access domain 100B, the associated data frames are tunneled through the wireless access domain 100B as shown in Fig. 1C .
  • the two opposite tunneling ends interface a wire-based field bus.
  • each virtual device 110 comprises an input interface 110A and an output interface 110B.
  • Each of the interfaces 110A and 110B may be a hardware interface, or a software interface, or a combination thereof.
  • the input interfaces 110A are configured to receive status information relating to the wireless data transmission.
  • the status information may specifically pertain to aspects of the radio bearer 112 that is used to wirelessly transmit the data frames from the RAN 105 to the UE103 and vice versa.
  • the input interfaces 110A may internally be coupled within the UE 103 and the RAN 105, respectively, to a corresponding internal interface of the UE 103 and the RAN 105, respectively.
  • the first interfaces 110A may be proprietary interfaces or interfaces compliant with a wireless communication protocol underlying the wireless access domain 100B.
  • the standardized interfaces (such as an operations and maintenance, O&M, interface as specified by 3GPP) for fetching status information from an associated radio access network are slow and only capable of providing status information in an overly aggregated manner.
  • the first interfaces 110A may be realized as proprietary interfaces.
  • the output interfaces 110B are compliant with the industrial process communication protocol used for communication between the remote controller 106 and the field devices 102A, 104 in the robot cell 101. As an example, these interfaces 110B may be compliant with ProfiNet.
  • the output interfaces 110B are configured to output the status information, optionally after one or more processing steps within the virtual devices 110, in data frames that are compliant with the industrial process communication protocol. These data frames may then be inserted (or "injected") within the UE 103 and the RAN 105 between the "regular" data frames communicated from the "regular" field devices 102A, 104 on the field bus towards the remote controller 106.
  • the output interfaces 110B may take the form of dedicated ports (e.g., an input memory map address of the remote controller 106) to "publish" the status information for being read by the remote controller 106. In this way, the remote controller 106 may use the same process to read the virtual devices 110 and the "regular" field devices 102A, 104.
  • the associated data frames including this status information can transparently be transported on the field bus infrastructure to which the remote controller 106 is attached.
  • Figs. 2A and 2B illustrate two embodiments of the virtual devices 110 of Fig 1C .
  • the virtual device 110 comprises a processor 202 and a memory 204 coupled to the processor 202.
  • the virtual device 110 further comprises the input interface 110A and the output interface 110B as discussed above with reference to Fig. 1C .
  • the memory 204 stores program code that controls operation of the processor 202.
  • the processor 202 is configured to receive the status information relating to wireless data transmission via the input interface 110A from the UE 102 or the RAN 105.
  • the processor 202 is further configured to provide the status information via the output interface 110B towards the remote controller 106.
  • the processor 202 may in some variants perform a protocol conversion between a wireless communication protocol format in which the status information is received via the input interface 110A and an industrial process communication protocol format in which the status information is provided via the output interface 110B towards the remote controller 106.
  • the status information as such may transparently be transferred from the intput interface 110A to the output interface 110B.
  • the processor 202 may process the status information before outputting it via the output interface 110B.
  • Fig. 2B shows an embodiment in which the virtual device 110 is implemented in a modular configuration.
  • the virtual device 110 comprises a first interfacing module 206 and a second interfacing module 208.
  • the first interfacing module 206 is configured to be coupled to one of the UE 103 and the RAN 105 (or a core network) of the wireless communication network.
  • the second interfacing module 208 is compliant with an industrial process communication protocol used for communication between the remote controller 106 and the field devices 102A, 104 in the robot cell 101.
  • the virtual device 110 of Fig. 2B is configured to receive the status information via the first interfacing module 2006 and to provide the received status information, or status information derived from, via the second interface 110B towards the remote controller 106.
  • Figs. 3A and 3B illustrate two embodiments of the remote controller 106 of Figs. 1A to 1C .
  • the remote controller 106 comprises a processor 302 and a memory 304 coupled to the processor.
  • the memory 304 stores program code that controls operation of the processor 302.
  • the processor 302 is configured to obtain, based on an industrial communication protocol that is used for communication between the remote controller 106 and the field devices 102A, 104 in the robot cell 101, status information relating to the wireless data transmission illustrated in Figs. 1A to 1C .
  • the processor 302 is further configured to control the industrial process 101 (and in particular one or more of the field devices 102A) based on the obtained status information.
  • Fig. 3B shows an embodiment in which the remote controller 106 is implemented in a modular configuration.
  • the remote controller 106 comprises an obtaining module 306 configured to obtain status information relating to the wireless data transmission illustrated in Figs. 1A to 1C .
  • This status information is obtained in accordance with (e.g., in a format compliant with) the industrial process communication protocol that is used for communication between the remote controller 106 and the one or more field devices 102A, 104 in the robot cell 101.
  • the controlling module 308 is configured to control the industrial process (and in particular the field devices 102A) based on the obtained status information.
  • Fig. 4 illustrates in a flow diagram 400 a method embodiment of providing status information by the virtual device 110 and controlling the robot cell 101 based on the provided status information.
  • the method embodiment may be performed by any of the embodiments of Figs. 2A or 2B and Fig. 3A and 3B .
  • step S402 the virtual device 110 receives via the first interface 110A status information pertaining to the wireless data transmission illustrated in Figs. 1A to 1C .
  • step S404 the virtual device 110 provides the received status information, or status information derived therefrom, via the second interface 110B towards the remote controller 106.
  • the remote controller 106 obtains the status information provided by the virtual device 110 in step S406.
  • the status information is obtained based on the industrial process communication protocol used for communication between the remote controller 106 and the one or more field devices 102A.
  • the virtual device 110 presents itself via the second interface 110B as a "virtual" field device to the remote controller 106.
  • the remote controller 106 may obtain the status information from the virtual device 110 in a similar manner as information is obtained from the "regular" field devices 102A, 104.
  • the remote controller controls the robot cell 101 based on the obtained status information.
  • This robot cell control may in particular relate to a control of the one or more field devices 102A in the robot cell 101 that are associated with the robotic devices 102.
  • robot cell control by the remote controller 106 based on status information received from one or more virtual devices 110 will be discussed.
  • the remote controller 106 determines that a data frame expected from the robot cell 102 has not arrived in time (e.g., a data frame required for PID control of one of the field devices 102A). In such a case, the remote controller 106 will obtain (e.g., request or read) the status information associated with the missing data frame as provided by one of the virtual devices 110. Based on the status information thus obtained, the remote controller 106 can initiate one or more control actions pertaining to the robot cell 101.
  • a data frame expected from the robot cell 102 has not arrived in time (e.g., a data frame required for PID control of one of the field devices 102A). In such a case, the remote controller 106 will obtain (e.g., request or read) the status information associated with the missing data frame as provided by one of the virtual devices 110. Based on the status information thus obtained, the remote controller 106 can initiate one or more control actions pertaining to the robot cell 101.
  • the remote controller 106 may only temporarily stop the robot cell 101 if the obtained status information reveals that there is an ongoing data transmission (identified, e.g., by a specific flow identifier) from the robot cell 101 that potentially includes the missing data frame.
  • the remote controller 106 may obtain the status information in regard to two or more of the field devices 102A that execute a collaborative task that needs to be coordinated. As an example, two robot arms as exemplary robotic devices 102 may need to perform precise and synchronized movements, and need to avoid any collisions. The remote controller 106 may then evaluate the status information to determine if the collaborative task can properly be executed by the robot arms. As an example, based on the status information, the remote controller 106 may determine that the associated data frames for collaborative control have been sent or have arrived at each of the associated field devices 102A in time. In such a case the remote controller 106 can deduce that the collaborative task can properly be performed.
  • the remote controller 106 determines from the status information that one or more data frames pertaining to control of an individual one of the two field devices 102A has nor arrived in time, it can deduce that the collaborative task cannot properly be executed and control the remaining field device 102A in an appropriate manner (e.g., stop or delay certain movement actions or modify the movement paths of the robot arms).
  • each radio bearer 112 that is serving the robot cell 101 is monitored and associated status information is evaluated either within the wireless communication network but outside the virtual device 110, or by the virtual device itself.
  • flows can thus be identified (FlowID), and update times can be determined.
  • FlowID flow ID
  • the first two bytes of a ProfiNet IO data frame contain the flow ID which identifies the flow.
  • radio transmission events pertaining to data frame transmission states are collected. Each event is time-stamped and extended with the associated flow identifer.
  • the following data frame transmission states can be collected from a radio module of, for example, a base station of the RAN 105 in a downlink direction:
  • the status information can be provided per event (i.e., per dedicated data frame transmission state).
  • the status information may be provided per event as a data tuple comprising at least a time stamp "TS", a flow identifier "FlowID” and a data frame transmission state indicative of the underlying data frame transmission state "Event”.
  • a temporal sequence of such data tuples representative of individual items of status information as received or derived by the virtual device 110 in the RAN 105 (for provision to the remote controller 106) may look as follows
  • the UE 103 sends data frames to RAN 105.
  • the following two events may be collected:
  • This event contains time stamps.
  • FlowIDs of one or more flows which have the closest desired arrival time (ClosestFlowIDs) are also added to the event.
  • the remote controller 106 can be aware of that the UE side is trying to send a data frame that most probably belongs to the flow of ClosestFlowID.
  • a temporal sequence of data tuples representative of individual items of status information as received or derived by the virtual device 110 in the UE 103 or the RAN 105 may look as follows:
  • the above items of status information for the uplink direction and the downlink direction will be collected by the virtual devices 110 in one or both of the UE 103 and the RAN 105 for provision to the remote controller 106.
  • the remote controller 106 can obtain the status information based on a pull mechanism or a push mechanism.
  • the remote controller 106 evaluates the status information thus obtained and takes proper control action as exemplarily explained above.
  • the control logic of the remote controller 106 can thus be extended to properly handle wireless transmission events in an efficient manner.
  • the remote controller 106 can read the virtual devices 110 in the same way any "regular" field device 102A, 104 in the robot cell 101, there is no additional communication overhead on the side of the remote controller 106. That is, the virtual devices 110 can provide, or “publish", the status information on their output interfaces 110B (e.g., ports) in the same manner as a monitoring device 104 (e.g., a sensor) would "publish” any robot cell state data towards the remote controller 106. This "publishing" can take place in real time, so that the remote controller 106 can process the status information for real time control of the robot cell 101.
  • the output interfaces 110B e.g., ports
  • a monitoring device 104 e.g., a sensor

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Claims (15)

  1. Einrichtung (110), die konfiguriert ist, um Statusinformationen bezüglich einer Drahtlosdatenübertragung bereitzustellen, die verwendet werden, um einen Industrieprozess (101) durch eine Fernsteuerung (106) zu steuern, wobei die Fernsteuerung (106) mit mindestens einer ersten Feldvorrichtung (102A) des Industrieprozesses (101) über ein Drahtloskommunikationsnetz gekoppelt ist, das die Drahtlosdatenübertragung unterstützt, die Einrichtung (110) umfassend
    eine erste Schnittstelle (110A), die konfiguriert ist, um entweder mit eines von einem Benutzerendgerät (103), einem Funkzugangsnetz (105) und einem Kernnetz des Drahtloskommunikationsnetzes gekoppelt zu werden;
    eine zweite Schnittstelle (110B), die mit einem Industrieprozesskommunikationsprotokoll konform ist, das für die Kommunikation zwischen der Fernsteuerung (106) und der mindestens einen ersten Feldvorrichtung (102A) verwendet wird; und
    wobei die Einrichtung (110) konfiguriert ist, um die Statusinformationen über die erste Schnittstelle (110A) zu empfangen und die empfangenen Statusinformationen oder davon abstammende Statusinformationen über die zweite Schnittstelle (110B) zu der Fernsteuerung (106) bereitzustellen.
  2. Einrichtung nach Anspruch 1, wobei
    die Einrichtung (110) konfiguriert ist, um sich über die zweite Schnittstelle (110B) gegenüber der Fernsteuerung (106) als eine zweite Feldvorrichtung zu präsentieren.
  3. Einrichtung nach einem der vorstehenden Ansprüche, wobei
    die zweite Schnittstelle (110B) sich auf Schicht 1 des Open Systems Interconnection(OSI)-Modells befindet.
  4. Einrichtung nach einem der vorstehenden Ansprüche, wobei
    die zweite Schnittstelle (110B) eine drahtbasierte Schnittstelle ist.
  5. Einrichtung nach einem der vorstehenden Ansprüche, wobei
    das Industrieprozesskommunikationsprotokoll und/oder die zweite Schnittstelle (110B) mit mindestens einem von dem Standard der Internationalen Elektrotechnischen Kommission (International Electrotechnical Commission - IEC)61158 und dem IEC-Standard 61784 konform sind.
  6. Einrichtung nach einem der vorstehenden Ansprüche, wobei
    der Industrieprozess (101) über zwei oder mehr Funkträger (112) gesteuert wird, und wobei die Statusinformationen mit genau einem Funkträger (112) verknüpft sind.
  7. Einrichtung nach einem der vorstehenden Ansprüche, wobei
    der Industrieprozess (101) unter Verwendung eines Flusses von Datenrahmen zwischen der Fernsteuerung (106) und dem Industrieprozess (101) gesteuert wird, und wobei die Statusinformationen einen Übertragungszustand von einem oder mehreren Datenrahmen betreffen.
  8. Einrichtung nach Anspruch 7, wobei
    die Statusinformationen einen oder mehrere der folgenden Datenrahmenübertragungszustände betreffen:
    - an dem Funkzugangsnetz (105) eingetroffene Datenrahmen für die Drahtlosübertragung zu dem Industrieprozess (101);
    - erfolgreich durch das Funkzugangsnetz (105) zu dem Industrieprozess (101) gelieferte Datenrahmen;
    - das Funkzugangsnetz (105) hat begonnen, einen Datenrahmen drahtlos zu übertragen;
    - das Funkzugangsnetz (105) hat ein nochmaliges Übertragen von einem Datenrahmen ausgelöst;
    - das Funkzugangsnetz (105) hat einen Datenrahmen gelöscht;
    - erfolgreich an die Fernsteuerung (106) gelieferter Datenrahmen; und
    - fortlaufende Datenrahmenübertragung von dem Industrieprozess (101).
  9. Einrichtung nach Anspruch 8, wobei
    die Statusinformationen einen einzelnen Datenrahmenübertragungszustand mit Zusatzinformationen verknüpfen, die mindestens eines von einer Datenflusskennung, einer Flussaktualisierungszeit und einem Zeitstempel beinhalten.
  10. Einrichtung nach Anspruch 9, wobei
    die Zusatzinformationen durch Paketinspektion in mindestens eines von dem Benutzerendgerät (103), dem Funkzugangsnetz (105) und dem Kernnetz erhalten wurden.
  11. Einrichtung nach einem der vorstehenden Ansprüche, wobei
    die Einrichtung (110) konfiguriert ist, um in Echtzeit zu arbeiten.
  12. Fernsteuerung (106) zum Steuern mindestens einer ersten Feldvorrichtung (102A) eines Industrieprozesses (101) unter Verwendung einer Drahtlosdatenübertragung, wobei die Fernsteuerung (106) konfiguriert ist, um
    basierend auf einem Industrieprozesskommunikationsprotokoll, das für die Kommunikation zwischen der Fernsteuerung (106) und der mindestens einen ersten Feldvorrichtung (102A) verwendet wird, Statusinformationen bezüglich der Drahtlosdatenübertragung zu erhalten; und
    den Industrieprozess (101) basierend auf den erhaltenen Statusinformationen zu steuern.
  13. Fernsteuerung nach Anspruch 12, wobei
    die Statusinformationen von einer Einrichtung (110) in dem Drahtloskommunikationsnetz erhalten werden, die sich gegenüber der Fernsteuerung (106) als eine zweite Feldvorrichtung präsentiert.
  14. Fernsteuerung nach Anspruch 12 oder 13, wobei
    der Industrieprozess (101) unter Verwendung eines Flusses von Datenrahmen zwischen der Fernsteuerung (106) und dem Industrieprozess (101) gesteuert wird, und
    wobei die Fernsteuerung (106) konfiguriert ist, um die Statusinformationen als Reaktion auf eine Bestimmung zu erhalten, dass ein Datenrahmen nicht rechtzeitig von dem Industrieprozess (101) eingetroffen ist.
  15. Verfahren zum Bereitstellen von Statusinformationen bezüglich einer Drahtlosdatenübertragung, die verwendet werden, um einen Industrieprozess (101) durch eine Fernsteuerung (106) zu steuern, die mit mindestens einer Feldvorrichtung (102A) des Industrieprozesses (101) über ein Drahtloskommunikationsnetz gekoppelt ist, das die Drahtlosdatenübertragung unterstützt, das Verfahren umfassend
    Empfangen (S402) der Statusinformationen über eine erste Schnittstelle (110A), die konfiguriert ist, um mit eines von einem Benutzerendgerät (103), einem Funkzugangsnetz (105) und einem Kernnetz des Drahtloskommunikationsnetzes gekoppelt zu werden; und
    Bereitstellen (S404) der Statusinformationen oder davon abstammender Statusinformationen über eine zweite Schnittstelle (110B), die mit einem Industrieprozesskommunikationsprotokoll konform ist, das für die Kommunikation zwischen der Fernsteuerung (106) und der mindestens einen Feldvorrichtung (102A) verwendet wird, zu der Fernsteuerung (106).
EP18789761.6A 2018-10-16 2018-10-16 Verfahren zum bereitstellen von statusinformationen in bezug auf eine drahtlose datenübertragung für die industrielle prozesssteuerung Active EP3868078B1 (de)

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